by afernan » Tue Mar 19, 2013 3:25 pm
@James:
I guess I´ve got long fligh experience with this divergence since I was forcing it (in flight) many times trying to get a good PID combination (without success till now).
I´ve already seen this problem in three different AQ boards and quite a lot of frames, combination of motors, ESC and propellers:
Motors: : T-Motor MT2212 750kv, 5010-14 360KV , HP4215 460KV 24N18P
ESC´s: Flyduino Simon-K, ESC32
Propellers::10x4.5,12x4.5 carbon, 13x4 carbon, 15x5.5 carbon
Frames: quad (0.8, 1, 1.2 Kg rtf), Hexa (2.6Kg rft)
I´ve played a lot also with PID´s without success. So, I can say the problem is still there.
Basically: if you flight smooth >> no problem. If you fly hard >> you can get the devil and crash (I´ve got A LOT already).
I´m trying to understand the main attitude control loop and compare with other codes much more simple that don´t show this divergence (Arducopter, for instance). They use nested PID (pos/rate) (AQ not, although is prepared for that). Then, I´ll try to flight again, but the problem is that every flight test normally ends with a crash.
Angel